Authors
Reid G Simmons
Publication date
1994/2
Journal
IEEE transactions on robotics and automation
Volume
10
Issue
1
Pages
34-43
Publisher
IEEE
Description
To operate in rich, dynamic environments, autonomous robots must be able to effectively utilize and coordinate their limited physical and computational resources. As complexity increases, it becomes necessary to impose explicit constraints on the control of planning, perception, and action to ensure that unwanted interactions between behaviors do not occur. This paper advocates developing complex robot systems by layering reactive behaviors onto deliberative components. In this structured control approach, the deliberative components handle normal situations and the reactive behaviors, which are explicitly constrained as to when and how they are activated, handle exceptional situations. The Task Control Architecture (TCA) has been developed to support this approach. TCA provides an integrated set of control constructs useful for implementing deliberative and reactive behaviors. The control constructs …
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Scholar articles
RG Simmons - IEEE transactions on robotics and automation, 1994